Robotics is a rapidly growing industry as the technology to build and control robots develops. However, the industry still faces many challenges, especially when it comes to sensing a robot's surroundings. Some robots operate in a static environment and continually operate the same task (e.g. an assembly line). In this setting, robots can function with limited sensing because there aren't worries about finding the part they are working on, as it is always in the same place. Robots acting in dynamic environments cannot make this assumption and have to constantly be updating their 3D understanding of their environment so they can interact effectively. Building the 3D maps is an active area of research and this report implements a way to create these 3D maps
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